摘要
由于码垛机器人应用环境复杂、不确定条件多等诸多问题,针对现有的避障轨迹规划算法存在的划分空间上的繁琐情况,提出了一种智能避障轨迹规划算法,包括障碍物信息提取和避障轨迹设计,最大程度降低障碍物信息与轨迹设计部分的耦合度,达到减少动态空间下频繁划分空间的目的。最后在OPENGL软件上研发的三维仿真平台上进行运动学仿真与验证。仿真结果表明,改进算法规划出的轨迹能有效避开障碍物且轨迹符合预期的要求,充分验证了轨迹规划算法的可行性和有效性。
Aiming at the complicated environment and uncertainties in palletizing robot applications,an intelligent obstacle avoidance trajectory planning algorithm was proposed due to the onerous conditions on space dividing of the current obstacle avoidance trajectory planning algorithm.In order to achieve the purpose of reducing dynamic space frequently divide the space,the algorithm consists of the obstacle information extraction and obstacle avoidance trajectory design to minimize coupling degree of the obstacle information and track design.Finally,the kinematics simulation was complemented in the simulation environment independently developed based on OPENGL 3D.The simulation results show that the trajectory planned by the trajectory planning algorithm can effectively avoid obstacles,meet the expected requirements,and fully verify the feasibility and validity of the trajectory planning algorithm.
出处
《计算机仿真》
CSCD
北大核心
2013年第7期326-330,共5页
Computer Simulation
基金
高档数控机床及其基础制造装备科技重大专项(2011ZX04002-151)
国家高技术研究发展计划(863计划2011AA04A104)
关键词
码垛机器人
轨迹规划
避障
Palletizing robot
Trajectory planning
Obstacle avoidance
